Assist control and its tuning method for haptic system

This paper deals with an assist control on a haptic interface to promote operator´s skill based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM). HAM is an intelligent machine which adapts to human, improves his/her skill, and enhances total performance of total man-machine system. The proposed assist-control scheme includes online estimation of an operator´s control characteristics, and a force-assist function based on a skill-level estimated. This paper discusses how to extract an expert´s reference parameters from the response data and how to construct the assist function by stochastic analysis. It was confirmed via an experimental test that beginner´s performance was enhanced by the assist-control as much as an expert